TW201127542A - Arc welding method - Google Patents

Abstract

The present invention provides an arc welding method capable of forming more beautiful welding bead. The invented method comprises repeating the first step T1 and the second step T2, wherein the first step T1 is stopping a welding gun at a plurality of stop positions with and interval according to an indicated moving pitch Mp for performing welding bead transfer by generating arc between a base metal and a consumable electrode kept on the welding gun; and the second step T2 is generating arc between the base metal and the consumable electrode, while cooling a molten puddle formed on the base metal, and moving the welding gun with the moving pitch to a next stop position. When the distance of stop position P(n) to the indicated pre-specified position of welding stop Ps is within the moving pitch Mp, a last first step T1 is performed and then the welding operation is stopped.

Description

201127542 IV. Designated representative map: (1) The representative representative figure of this case is: (2) The symbol of the representative figure is Dr~ welding direction; fvl, fv2~ feed speed; iwl, iw2~ current value; p( n) ' P(nl), p(n-2)

Ps ~ welding end predetermined position T2 ~ arc duration; V 2 ~ moving speed; (5) diagram. Single explanation: F v ~ feed speed; Iw 'Iwl 'Iw2 ~ welding current; Mp ~ moving pitch; , P (n + 1) ~ stop position; 'T1 ~ solder drop transfer period; Τ α ~ unit welding period; VR ~ robot movement speed. 5. If there is a chemical scale in this case, please disclose the simplification of the levy. [Technical Field] The present invention relates to an arc welding method using a stitch pulse welding method [Prior Art] / Fig. 9 shows an example of a conventional welding system. The connection 91 in the figure is spliced using a so-called stitch pulse welding method. The stitch-welding method refers to a welding method that can impart a heat influence to a base material by controlling heating and cooling at the time of welding. Compared with the conventional thin plate =, 201127542, it is considered that the use of the stitch foot reduces the welding of the weld. Quantity... Photographed:::The appearance of the second connection'(10) The lower arm will automatically arc weld the base material 9w by the upper arm (not shown and used to drive the rotation of these mechanisms, the servo horse ends with Φ welding spray It is attached to the first two of the wrist portion 95 of the manipulator (10) to guide the winding around the diameter of the reel 96, and the indication of the wire core base material 9W is set. The splicing power supply 9WP is supplied to the welding machine. Between 9T and the base material 9W. When welding is carried out to: The length of the front end of the arc welding spray gun 9 is required to be welded to the arc welding strip 92 to the arc welding spray 9 焊接 part of the welding wire 97. The programmer as the operating device (teaching _ _ giftable operating panel) is used to set the movement of the robot 9M, to perform the conditions required for the foot pulse welding, etc. The ten robot control device 9RC is used Let the robot (10) perform welding action control The main control unit, the operation control unit, etc. (all not shown). Then, according to the operator through the programmer: The operation program 'outputs the operation control signal to the robot by the feeding driver:: Each servo motor makes the robot 9M The plurality of axes are respectively rotated. The mechanical winding path can control the current position because the output of the editing (not shown) provided by the servo motor of the robot (10) recognizes the current position: so that the front end position of the 9T can be controlled. The _ side will repeatedly perform the welding, moving, and cooling described in the following paragraph 3 201127542. The pin pulse welding is performed. Figure 10 is used to illustrate the state of the pin pulse welding. The welding wire 97 will protrude from the arc welding torch 9T. The front end of the protective gas G is continuously blown by the arc welding at a fixed flow rate from the start of welding to the end of welding. The following describes the states of the stitch pulse welding. Fig. 10(a) shows the situation when the arc is generated. According to the set welding current and the welding voltage, the electric welding wire 97 and the base material 9W are melted between the front end of the welding wire 97 and the base material, and the base material 9w is melted. Into the pool, the arc a is stopped after the indicated welding time. Θ Figure 10 (b) shows the situation after the arc stops. After the arc stops, the state after welding reaches the set cooling time. The arc welding spray 9T is in the same state as the stop state at the time of welding, the arc welding sprays 9 ΤΡ, the protective gas G is ejected, and the smelting two Y is substantially cooled and solidified by the sputum gas G. : mo map shows moving arc The welding spray is rushed to the next welding position. (4) After the cold (four), the arc welding is sprayed 9 and the moving speed is moved to the preset position. The moving speed is the set moving speed. The moving pitch "is the distance from the outer position of .... ......The molten state after solidification 丄:), the figure shows: At the arc restart point, the arc a is generated again. The front end of the 艮Y forms a new molten pool and then welded. == The welding system 91 will interact like this. The state of generating an arc and moving is performed. Then, solder beads are formed so that the splicing 4 201127542 marks (squamous) overlap. Figure 11 is a diagram showing the solder drops formed after soldering. If ...: does not, at the initial arc start point P1 forms a weld mark Sc, along

Sc. Further: = the same as the restart point P2 of the Dr pitch Mp, the weld mark Se is sequentially formed after the start point P3 of the arc. As a result of overlapping with each other, a scale-like weld is formed. In the above method, as shown in Fig. 10(b), Fig. 10(4) and the like, the arc a is stopped after the arc a is stopped. In the case of the re-production of the arc a, the appearance of the welding bead β is deteriorated. 焊 The welding method in which the arc a is not stopped and the arc a is not generated is proposed (for example, see Patent Document 2). As shown in Fig. 12(b) and Fig. 12(c), this method is different from the case of the first (8) and the 10th (c), and does not stop the arc a when cooling the pool γ. The state in which the arc a is generated is maintained. Since it is not necessary to generate the arc a' again, it is possible to suppress the occurrence of the splash. In this case, the conventional technique is, for example, the use of an alternating pulse current during the itch connection, and the use of a weak direct current during cooling and movement. Even if such a stitch welding method is used, it is sometimes necessary to perform pit processing in order to prevent defects in the solder terminal portion. The pit processing refers to a soldering process in which the (4) cell γ is less likely to be recessed and the welding electric welding voltage is weaker than usual. This solder pit treatment can prevent the solder terminal portion from being thinned, and the solder terminal material is liable to cause defects. In this arc welding method, for example, the braiding device 9τρ 201127542 can be used to buckle the position of the welding.., t. The above-mentioned welding pit treatment will be carried out at the end of the welding of the finger. However, the predetermined position of the welding end may be welded due to arc welding, shovel, and squirting without overlapping with the stop position. That is to say, the welding stop moves to the position below the pitch Μρ "may be "by a certain stop position. At this time, in the 煜 pile prostitute, the end of the mouth pre-疋 ^ f, at the predetermined position of the 接 - - beam 的 处理 的

There is a problem that the appearance of the fish scale bead B which is different from the previous welding_Q welding mark Sc is deteriorated. [Patent Document 1] Japanese Laid-Open Patent Publication No. Hei No. Hei. No. Hei. No. Hei. No. Hei. No. Hei. No. Hei. No. Hei. No. Hei. Arc welding method for dropping beads. SUMMARY OF THE INVENTION An arc provided by the present invention The first step and the first step of the cow _ Ganshan Khan, wherein the first step is to stop the welding smash in one of the plurality of stop positions of each of the indicated moving distances. An arc is generated between the consumable electrodes held by the welding smash, and the droplet transfer is performed. The second step is to generate an electric isolation between the base material and the consumable electrode, and a potassium salt is formed in the molten pool of the base material, and the tanned spray is moved. The moving pitch is to the next stop position. When the distance from the indicated welding end to the predetermined position is (4) the above-described stopping position at the above-described moving pitch, the welding is stopped after the last first step. 201127542 In a preferred embodiment of the present invention, the welding is terminated in the welding traveling direction at the above-described stopping position which is closer to the welding start position than the predetermined end position of the welding end. In the preferred embodiment of the present invention, the other step 1 except for the last step 1 described above is performed by flowing arc welding current between the above-mentioned base material and the above-mentioned consumable electrode. The last first step of the above is performed by flowing the arc welding current between the base material and the consumable electrode. In still another preferred embodiment of the present invention, the first step other than the last step of the last step is performed by flowing an arc welding current between the (four) and (four) poles of the mother (four). The first step of the last step is performed by the pit processing current having a flow absolute value smaller than the arc welding current to the base material and the consumable electrode. In still another preferred embodiment of the present invention, the first step other than the last step 1 is performed by flowing an arc welding current between the base material and the consumable electrode. The first step of the last step is performed by flowing the arc welding current and then flowing a solder pit having an absolute value smaller than the arc splicing current between the base material and the consumable electrode. In a preferred embodiment of the present invention, the method further includes: moving the welding squirting step at a speed faster than the moving speed in the second step after performing the last step 1 and ending the welding. . 201127542 In the arc welding method of the present invention, the above-described stop of the last first step is stopped at the above-described squatting position even if the stop position of the plural number is not the same as the above-described stop position. In the case where the pit processing is performed before the end of ==, the welding knives are ridden at the "knowing position", and the arc welding method according to the present invention is formed at the end of the welding, for example, by welding pit processing, and the welding mark of the 卩It will not disturb the interval of the scaly beads formed by the sputum. The other features and advantages of the invention will be understood with reference to the drawings and the following. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of the present invention will be specifically described with reference to the drawings. Fig. 1 is a view showing an example of a welding system which is suitable for the beginning of the sound; The money receiving A includes a welding robot hand control device 2 and a welding power source device 3. The welding robot 1 automatically performs, for example, arc welding on the base material w. The welding robot is provided with a base 12 and a plurality of arms 12, plural The motor 13, the welding spray u, the welding wire feeding device 16, and the coil strip 19. The base 11 is fixed to a suitable place such as a floor. Each arm 12 is connected to the base 11 through a shaft. The welding spray 14 is set in the welding machine. The front end of hand 1 The front end of the wrist portion 12a. The welding spray is used as a consumable electrode, for example, a diameter of about 1 mm, and the wire 15 is guided to a predetermined position near the base material Wm. The welding spray is used to provide protection for a protective gas such as Ar. The motor 13 is disposed on the arm J 2 ^ , (the figure is the two ends or one end of the figure 12 (the figure omits one part two). The motor 13 is rotationally driven by the robot control device 2 . The movement of 12 causes the welding spray to "move freely around the left and right month 1J. The motor is provided with an encoder (not shown). The output of the encoder is controlled by the control device 2. Through this output value, the robot control device Γ The current position of the spray gun 14 can be identified. The welding wire feeding device 16 is disposed on the upper portion of the welding robot 1. The welding edge = the device 16 is used to feed the wire. 15 to the welding spray. 14. The device 16 includes a feed motor 161, a reel (not shown), and a welding: a moving device (not shown). The welding wire pushing device feeds the motor 161 as a driving source, and is wound around the reel 14 Chong, 糸15迗出给喷喷喷The loop strip 19 is connected to the welding wire feed device Μ and the other end is connected to the welding servant 14. The coil strip 19 is connected to the ς m / wind & 'internal insertion weld, 糸 15. coil set The strip 19 guides the welding 15 (four) U to place the welding wire that is shipped out of the mail. 4. The welded wire that is sent out grabs the U-bump from the welding nozzle as a function of the consumption electrode. The internal structure of the tan connection system a is shown in Fig. 1. The robot control device 2 shown in Fig. 2 is connected to the operation of the robot 1. As shown in Fig. 2, the machine is equipped with the operation control circuit 21 and the interface circuit. 22. Computer used 2, τρ. β卞. p 23, and programming 9 201127542 The medium storage path 21 has a microcomputer and a memory (not shown). Memory Action 2 recognizes the various settings of the welding robot 1. Twisting; Road: Wide 21 will set the manipulator moving speed VR described later. Action = Circuit: According to the above-mentioned work program, coordinates from the encoder = and the movement speed of the robot (4), the welding robot is given an action control 1 = the operation control signal M is widely used. Each of the motors 13 is rotated and moved to the predetermined welding start position of the base material w, and the inner surface of the base material W is moved. The programmer ΤΡ is connected to the motion control circuit 21 and the calculation unit (2). Programming Benefits TP is used to allow the user to set various actions. The user inputs the data from the programmer TP to the calculation unit. The calculation unit 23 counts the data and sends it to the operation control circuit 21 by the programmer (4). i. The calculation result interface circuit 22 is connected to the welding power source device 3 to receive and receive various signals. (4) The circuit 21 sends the f stream setting signal k, the output start signal n, and the feed speed setting signal Ws to the interface circuit. The device 3 applies a welding power source Vw to the welding wire 15 and the base material: for 'flowing the welding current through' and simultaneously for feeding to the welding wire 15. As shown in Fig. 2, the welding power source device 3 includes a wheeling control circuit 31, an electric detection circuit 32, a feed control circuit 34, a interface circuit, and a voltage detecting circuit 36.

The interface circuit 35 transmits and receives various signals with the robot control device 2. Specifically, the § brother's interface circuit 22 sends a current setting signal ^, an output start signal On, and a feed speed setting signal Ws to the interface circuit I 10 201127542 to output a control circuit 3 control circuit. The wheel discharge has a reverse consisting of a plurality of transistor elements. The quotient of the external input: electricity = high speed return current waveform control through the inverter control circuit. , for example, 3-phase 200V) 'Precision welding The output control circuit is connected to the base material w. Wheel 2: One end is connected to the welding spray 14 and the other pressure VW is applied to the welding wire and the base material W ‘current IW flows. Thereby, the front end of the welding wire 15 is welded to the arc a. The hot-melt welding by the arc, the base material w°, and then the welding of the base material W are performed. The operation control circuit 21 sends the current setting signal 15 and the output start signal On to the output control circuit 31 through the interface circuits 35 and 22. The current detecting circuit 32 is for detecting the welding current flowing to the welding wire 15. The current detecting circuit 3 2 @妈·I·day + outputting the current detecting signal 对应 corresponding to the known current I w to the output control circuit 31 and action control circuit 21. The electric detecting circuit 36 is for detecting the welding electric power M Vw which is the output end of the output control circuit 31. The electric hard-out circuit % outputs an electric detection signal Vd corresponding to the welding electric power Vw to the output control circuit w. The control circuit 34 sends the control L number Fc for feeding the welding wire 15 to the motor. 6! The control signal is supplied to a signal indicating the feed speed Fw of the splicing wire 15. The rounding start signal On and the feed speed setting signal 来自 from the operation control circuit 21 are transmitted to the feed control circuit 34 through the interface circuits % and 22. Next, an arc welding method using the welding system A will be described. Let me first say 11 201127542 The general method of pulse welding of open pins. Hereinafter, the arc welding method of Embodiment 1 of the present invention will be specifically described. First, the change state of the robot movement speed VR by the general stitch pulse welding method will be described first using FIG. 3; the change state of the welding voltage Vw is shown in FIG. 3(b), and the welding wire 15 is shown in the third (4) diagram. The state of change; the third (4) graph shows the state of change of the absolute ^ time average of the welding current Iw. Robot movement speed vr is

The predetermined welding travel direction in the inner surface direction is the moving speed of the welding spray 14 in the advance direction Dr). First, in general, the input of the transition is started by the input from the programmer 2 (see Fig. 2). The processing start circuit 'rounds the start signal to turn out", the control circuit 31 and sent to the control circuit 34. The output control circuit 31 is connected to "Vw in the welding wire 15 and the base material w. Electricity". Then, as shown in Fig. 3, the repetition includes the unit of the T2, and the unit of the T2 is continued. Transfer fine T 1 t ping in: tf ~ drip flow: power (four) and through the welding current (five) transfer between the knowing droplets, forming a dazzling pool. On the other hand, the itch in the arc duration is almost connected ^Vw2 And by the flow of the splicing current iw2, the current is one (1) during the transfer of the solder droplets (time point t1 to t2). Figure 2 =:::, the description of the technique is performed in the The process of forming the molten pool γ. The first 12 201127542 of the present invention - the step of the + ^ ^ ^ T1 ^ reverse 进行 performed during the transfer of the solder droplets. The transfer period of the solder droplets is as shown in the 3U) As shown, the robot movement speed VR is set to 〇. Therefore, the welding blasting is stopped with respect to the base material w. As shown in Fig. 3(b), the time average value of the absolute value is the welding voltage Vw. The welding voltage Vwl of the voltage value (4) is applied. As shown in Fig. 3(c), the welding (4) = speed Fv is the feeding speed fvl. As shown in Fig. 3(4), in the welding:; surface 'pulse current Iwl The pulse current W oscillates, for example, at a voltage of two currents lwl. During the solder droplet transfer period, n is a constant voltage control voltage, and the welding conditions of the material, diameter, protruding length of 15 and electrode polarity of the welding wire 15 are If determined, the welding electric i Iw is determined according to the feeding speed of the welding wire 15. That is, the pulse current Iw1 of the pulse electric power setting signal is set as an example of the arc welding current of the present invention. The arc duration T2 (time point t2 to t3) 2 The arc duration T2' shown in Fig. 3 - continues the arc a, = performs the steps performed in the ceramics diagram (4) in the description of the prior art. "2 The step is that when the arc duration is time = as shown in the figure, when the arc duration T2 starts, the robot moving speed (1) is also grabbed to (1) the distance by which the welding spray is moved by the welding = the movement starts. 'Let the distance that the user perturbs, such as the value of the movement _ at, wa,,, as shown in Figure 3(b), Ί Vw, the time average of the absolute value is the voltage value of 2 13 201127542 Welding voltage VW2 You & ι ^ ^. Arc duration T2 During the transfer of the solder droplets, the T1 is different and is constant current control. In the case of the current average value of the current value, the fixed welding current Iw2 of the absolute value of 1⁄2 is flown. The electric attack value of 1W2 is difficult for the soldering drop. The transfer motor wire 15 is an anode, ## w and the welding current I w2 is the positive energy of the oil in the welding base material W as the cathode. The search, the flow in the extreme state 'is also called fv2|„ , _ The 15 turns ratio feed speed fvl μ is sent to the speed fv2 and sent to the base material w. The temperature is restarted from the time point t3 again. For example, the unit welding of the T1 and the arc duration T2 during the welding droplet transfer period = two: the spray blasting 14 during the welding droplet transfer period... does not move, the Τα only Ρ: Γ: 1 only moves the pitch MP' so the unit The welding 疒+ in the welding period is also said, the welding squirt 14 is moved along the moving η (Dr), and sequentially stops during the complex 俾s 丄 配置 配置 配置 配置 配置 ” ” ” ” ” ” ” ” ” At each stop position, the solder droplets transfer the electric singer I wl~ over and carry out the welding operation. The general stitch pulse welding is the better end method of the above-mentioned foot pulse welding. When the setting is started before the welding starts, the user passes through the control circuit 2 to end the predetermined position PS (see Fig. 5).

The welding end processing β at which the welding is completed at the predetermined position P is the reference 仃 摅 ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ The arc (8) is formed in the above-described steps, and the period T1 (10) is transferred. Then, the step f, [3) which has been confirmed during the trickle transfer period π 14 201127542 is performed, for example, after the indicated time, proceeds to the calculation step CM). Ending the predetermined setting Γ the distance D between the current position of the welding squirt 14 and the 疋 position ps. ^, the step of the line distance D and the moving distance Mp (S5). The distance D is more than the moving distance, preparation, Yes, before the mobile welding spray 14 is welded, the welding I > m · 1W, the welding waste * Ma. The standard, the electric power [Vw, and the feeding speed Fv are set to stop the arc a material after the end of the welding 'The speed has been shifted faster than the moving speed V2

For example, move to another location where welding is to begin. When the distance D is shifted by p 卩 θ Ρ, the arc start period T2 is started (S6), and T1 is squirted to squirt 14 pitch MP (S7). Then start the solder droplet transfer period 1 i ° Use Figure 5 to explain the condition at the end of the soldering. Fig. 5(4) shows the state of change of the machine and the movement speed VR. Figure 5(8) shows the wire core of the welding wire. The state of change of the speed Fv.帛5 (The figure shows the change state of the time average of the absolute value of the welding current. In the fifth figure, the plural stop bits ip(n), p(n) arranged along the welding direction Dr are further indicated). (2) and the welding end predetermined position Ps. The stop position shown in Fig. 5 is forward in the welding traveling direction Dr than the welding end predetermined position ps, and is located at a distance _ d from the welding end predetermined position ps When the welding is performed in the step of Fig. 4, the welding step is to calculate the distance calculated by the step (S4) after the welding droplet transfer period τ1 at the stop position P(n). The value of the movement pitch Mp is small. Therefore, the welding is terminated in a state where the welding squirt 14 is stopped at the stop position P(n). Therefore, the tan end position of the real 15 201127542 is set at # μ / $ β ▲ V stop position ρ (η). The final step of the present invention is the step of the solder drop transfer period τ1 at the stop position ρ(η). Using this solder termination method, even if the solder end position ps is between every move, The configured complex stop positions do not overlap, the actual weld end position One of the plurality of stop positions in which the yaw is moved by the distance M pg. Therefore, the case where the weld mark is not detached at the end of the welding is performed. Therefore, according to the welding method of the present embodiment, The more beautiful bead 0 can stop the welding squirt 14 from the stop position P(n) at a speed faster than the moving speed V.2 according to the stop position T before the welding end position Ps. Therefore, at the stop position p(4), the welding lance 14 can be moved to the next splicing in a shorter time than when the welding lance 14 is switched by the welding droplet transfer period T1 to the safari arc duration T2. Therefore, the root 摅太音# ν, 徊 ping according to the welding method of the present embodiment, the door can be retracted during the welding can be more efficient welding operations. The same or similar elements of the embodiment will be denoted by 盥, 实, and the description will be omitted as appropriate. ~ The same symbols are used for the description of the embodiment, when the arc welding Ps of the embodiment 2 of the present invention is instructed, the robot control Finance...",,,. bundle pre-position r The device 2 is controlled according to the flow shown in Fig. 6. The electric ν, the chip connection method shown in Fig. 6 is performed by the welding system 同样 in the same manner as the φ arc welding method shown in Fig. 4. First, the start of the splicing starts and the arc a (SU) is generated, and the distance D between the current position of the welding squirt 14 and the end predetermined position, 14 is calculated (S12). Then 16 201127542 The comparison distance D and the moving distance mP (S13) In the step (S13), the eight distances D are at the moving pitch Mp and the f-knife is smaller than the moving pitch Mp. The brother distance D is between the movements. When the giant Mp is above (sl3=N〇), the transition period T1 (S14) is started, and after the Shanghai _ bad drop _5). Then, after the arc continues to move for a period of time, the arc duration T2 is ended (S17 = YES). = Start step (S12). Dan-man

The distance D is smaller than the movement for the pit processing (S18). The program TP is preset. When the pitch Mp is (S13=YES), the difference is whether or not the pit processing is performed, for example, before the start, if the pit processing is not performed, the solder droplet transfer period T1(8)9) is started, and the solder droplet transfer is terminated after a private time. During the period Μ (Μ.=肥). Thereafter, the known current IW, the welding thief 17 τ» ping voltage Vw, and the feed speed Fv are set to 〇 stop the arc a, and the welding is terminated. When the pit processing is to be performed, the difference is that it is during the solder droplet transfer period (TSS21). Here, whether or not the solder droplet transfer period n is performed is set in advance by the private TP, for example, before starting. In the case where the solder droplet transfer period τι is performed, the solder droplet transfer period T1 is started (S22), and the solder droplet transfer period T1 is ended after the indicated time (S23 = YES). Thereafter, the pit processing is performed (S24). In the case where the solder droplet transfer period ΓΒ1 T1 is not performed, the pit processing is directly performed (S24). After the pit processing (S24), the welding current w, the welding voltage, and the reaching speed Fv are set to stop the arc a, and the welding is terminated. When the welding is completed after the weld pit process is not performed in the solder droplet transfer period n, the pit processing is performed at the stop position p(n) as shown in Fig. 7 . 17 201127542 The pit processing performed in the present embodiment is, for example, a process in which the pulse current of the maximum value is smaller than the current value i W1 during the processing period of the reference. This pulse current is an example of the pit processing current of the present invention. Drink,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, At this time, the last step of the present invention is the pit processing at the stop position P(n). This kind of welding droplet transfer is not carried out. (4) T1 can be directly welded to the pit. For example, when the tube is circumferentially welded, the welding mark I in one-week welding is used, and the droplet transfer is not performed. _T1 directly performs the pit treatment to make the welding uniform. . In the case where the welding process is performed after the welding droplet transfer period T1 and the welding is completed, as shown in Fig. 8, the weld pit process is performed after the droplet transfer period (4) is performed at the stop position p(n). At this time, the last step of the present invention is the droplet transfer (four) n step and the pit processing at the stop position P(n). According to such an arc welding method, it is possible to perform the pit processing "fourth (four)) defects of the welding end portion as needed. (4) In order to perform the pit treatment at the stop position P(n), the pit treatment makes the pitch of the weld marks uncoordinated. Therefore, when the pit processing is performed, even more beautiful beads can be formed even at the welding end position. In this case, the case X can be freely selected, but the fixed pit processing can be used. 1 After the welding (4) shift (4), the actual solder pit treatment, or the direct feed pit during the solder droplet transfer. Processing can be freely chosen or fixed in one of these situations. Pulse current I wl and solder pit # The pulse current processed by μ # _ ping can be either DC pulse current or AC pulse current. 18 201127542 The scope of this month is not limited to the above embodiments. The specific composition of each part of the welding system used in the present invention can be freely changed in various designs. The details of the arc welding method of the present invention can be appropriately changed. For example, in the above-described embodiment, the welding ends at a predetermined position in the kneading direction ^r

The stop position P(n) before Ps stops welding. However, when the base material w has a sufficient length in advance, the actual welding end position can be advanced in the welding direction Dr. in the welding direction by the predetermined position ps. That is to say, the welding can be stopped at the distance stop position P (the stop position p(n + 1) of the r 〇 pitch Mp shown in Fig. 5, Fig. 7, and Fig. 8. In the above embodiment, the pulse is applied. The current indicates the arc welding current and the pit processing current - the example 'pulse can be direct current or alternating current. @ The arc welding current and the pit processing current of the present invention are not limited to the pulse current, and may be a current without a pulse. Description of the Drawings Fig. 1 shows an example of a welding system composition suitable for use in the arc welding method of the present invention. Fig. 2 is a view showing the internal structure of the welding system shown in Fig. 1. (a) Fig. 3 to Fig. 3(d) show the change state of the welding condition value of the welding system shown in Fig. _ ^ Dingdi 1'. Fig. 4 shows the example of the arc welding method of the present invention. The flow of 1 is fixed. Fig. 5(a) to Fig. 5(c) show the variation of the welding condition value at the end of welding by the arc method shown in Fig. 4, ^ 19 201127542 Fig. 6 The flow method of the second embodiment of the arc welding method of the present invention is shown in: 7(a) to 7(c) The welding strip state at the end of welding in the case of the arc welding and the mash pit processing shown in Fig. 6 is displayed. The change of the warranty value is shown in Fig. 8(a) to Fig. 8(c). Figure 6 shows the change of the welding condition value when the weld pit is treated (4)% τ _ after the U ^ pulse transmission of a pack of fox ping joints. The ninth figure shows the conventional welding. An example of the system composition. The state of the first to the tenth (a) to the tenth (d) is shown in the figure. ^When the needle is welded, the figure is used to describe the state of the welded beads formed after the welding. Fig. 帛12(4) shows the main component symbol description when performing pin pulse welding】 A~ welding system; 11-^ base; 12a~ wrist; 14, ^ welding spray; 16- '-welding wire Device 2~ Robot control device; 22-, interface circuit; 3~ welding power supply device; 4 connected robot; 12~-arm; 13~^ motor; 15~ ¥ wire (drying electrode 161-~ to motor 21~ action control circuit; 23~ 'calculation unit; 31~-output control circuit; 20 201127542 32-i Stream detection circuit; 3 4~ to control circuit y 3 5~interface circuit y 36, - voltage detection circuit, D~ distance; F c~ give control signal Fv- - give speed y fvl, fv2~ send Give the speed I s ~ current ό and then set the signal; I w, Iwl, Iw2 welding electric i wl , iw2 current value; Me - - motion control signal, Mp ~ moving pitch > On ~ output start signal; P (n), P(nl), P(n-2)~ stop position;

Ps~welding end predetermined position; St~ welding start signal; T1~ solder drop transfer period; T2~ arc duration; Tc~ solder pit processing period; TP~ programmer; Τ α~ unit soldering period; VR~ robot movement Speed; Vw, Vwl, Vw2~ welding voltage; vwl, vw2~ voltage value; W~base material; Ws~ to speed setting signal s 21

Claims (1)

201127542 VII. Patent application scope: u-type arc welding method, repeating the first step and the second step, wherein ', ^ the first step is to stop the welding spray at the multiple stop positions at each indicated moving distance. An electric arc is generated between the base material and the consumable electrode held by the welding squirt, and the welding droplet is transferred. The second step generates an arc between the base material and the consumable electrode. Cooling the molten pool formed in the above-mentioned base material, and moving the welding spray to move the above-mentioned moving room (four) to the above-mentioned stop position, and the distance of the τ field from the predetermined position at which the welding is terminated is at the above-mentioned shift When the above stop position is within the pitch, the feature of stopping the welding after the last step is performed. 2. The arc welding method according to claim 1, wherein the welding is terminated at the stop position which is closer to the welding start position than the indicated pre-weld pre-position. , 3. The arc welding described in item i or item 2 of the patent scope, and the other step other than the last step of the above-mentioned first step is to flow the arc current to the base material. * The above-mentioned i-consuming electrodes are carried out, and the last i-th step is performed by flowing the electric current between the base material and the consumable electrode. 2. The method of arc welding according to item 1 or 2 of the patent application scope, wherein, in addition to the last i-th step, the step 22 201127542 consumes current by flowing arc welding current to the base material. Performing between the upper electrode and the upper electrode, the step of describing the last-order 是 is to treat the current to the base material and the consumable electrode by a solder pit having a flow absolute value smaller than the arc welding current. Come between. 'A method of arc welding as described in Item 1 or 2 of U.S. Patent No. 3, except for the last i-th step described above. /crushing is performed by gripping an arc welding current between the base material and the consumable electrode, and the first step of describing the last person is to flow the absolute value by flowing the arc welding current The pit processing current having a small arc welding current is performed between the base material and the consumable electrode. 6. The arc welding method according to any one of claims 1 to 5, further comprising: after performing the last-second step of the step of finishing the welding, using a moving speed in the second step The step of moving the welding torch described above at a faster speed. twenty three